Electrical and Computer Engineering Commons^™

Very Large Scale Robotics Path Planning With Centroidal Voronoi Tessellation, Xu (James) Gao

Theses, Dissertations and Capstones

Swarm robotics, also referred to as very large-scale robotics (VLSR), has emerged as a transformative approach for addressing complex tasks that are infeasible for single-robot systems. Applications range from environmental monitoring and disaster response to large-scale agricultural and industrial operations. However, as the number of robots in a swarm increases, so do the challenges associated with motion control, energy efficiency, and scalability. These challenges necessitate innovative solutions that balance microscopic robot behaviors with macroscopic system-level objectives.

In this thesis, we address these challenges by building upon existing research [40], which introduced novel methods for optimizing swarm robotics systems using macroscopic …

Explaining Deep Learning-Based Anomaly Detection In Energy Consumption Data By Focusing On Contextually Relevant Data, Mohammad Noorchenarboo, Katarina Grolinger

Electrical and Computer Engineering Publications

Detecting anomalies in energy consumption data is crucial for identifying energy waste, equipment malfunction, and overall, for ensuring efficient energy management. Machine learning, and specifically deep learning approaches, have been greatly successful in anomaly detection; however, they are black-box approaches that do not provide transparency or explanations. SHAP and its variants have been proposed to explain these models, but they suffer from high computational complexity (SHAP) or instability and inconsistency (e.g., Kernel SHAP). To address these challenges, this paper proposes an explainability approach for anomalies in energy consumption data that focuses on context-relevant information. The proposed approach leverages existing explainability …

Kolmogorov–Arnold Recurrent Network For Short Term Load Forecasting Across Diverse Consumers, Muhammad Umair Danish, Katarina Grolinger

Electrical and Computer Engineering Publications

Load forecasting plays a crucial role in energy management, directly impacting grid stability, operational efficiency, cost reduction, and environmental sustainability. Traditional Vanilla Recurrent Neural Networks (RNNs) face issues such as vanishing and exploding gradients, whereas sophisticated RNNs such as Long Short- Term Memory Networks (LSTMs) have shown considerable success in this domain. However, these models often struggle to accurately capture complex and sudden variations in energy consumption, and their applicability is typically limited to specific consumer types, such as offices or schools. To address these challenges, this paper proposes the Kolmogorov–Arnold Recurrent Network (KARN), a novel load forecasting approach that …

Leveraging Hypernetworks And Learnable Kernels For Consumer Energy Forecasting Across Diverse Consumer Types, Muhammad Umair Danish, Katarina Grolinger

Electrical and Computer Engineering Publications

Consumer energy forecasting is essential for managing energy consumption and planning, directly influencing operational efficiency, cost reduction, personalized energy management, and sustainability efforts. In recent years, deep learning techniques, especially LSTMs and transformers, have been greatly successful in the field of energy consumption forecasting. Nevertheless, these techniques have difficulties in capturing complex and sudden variations, and, moreover, they are commonly examined only on a specific type of consumer (e.g., only offices, only schools). Consequently, this paper proposes HyperEnergy, a consumer energy forecasting strategy that leverages hypernetworks for improved modeling of complex patterns applicable across a diversity of consumers. Hypernetwork is …

Recycled Filtered Contaminants From Liquid-Fed Pyrolysis As Novel Building Composite Material, Alessia Romani, Daniel Kulas, Joseph Curro, David R. Shonnard, Joshua Pearce

Electrical and Computer Engineering Publications

Liquid-fed pyrolysis allows the conversion of contaminated postconsumer plastic waste into valuable resources, removing contaminants through wax dissolution and filtration. One of the main challenges is currently represented by the management of its main byproduct, the contaminant-rich retentate from the filtration process. New circular economy strategies are needed to use this waste plastic-based composite as secondary raw materials. Despite the increasing trend in using plastic and plastic-waste composites for the building sector, there are currently limited applications of industrial recycling waste as engineering construction materials, e.g., from pyrolysis. This study evaluates the suitability of contaminant-rich retentate from liquid-fed pyrolysis of …

Parametric Design Of Easy-Connect Pipe Fitting Components Using Open-Source Cad And Fabrication Using 3d Printing, Abolfazl Taherzadeh Fini, Cameron K. Brooks, Alessia Romani, Anthony G. Straatman, Joshua M. Pearce

Electrical and Computer Engineering Publications

The amount of non-revenue water, mostly due to leakage, is around 126 billion cubic meters annually worldwide. A more efficient wastewater management strategy would use a parametric design for on-demand, customized pipe fittings, following the principles of distributed manufacturing. To fulfill this need, this study introduces an open-source parametric design of a 3D-printable easy-connect pipe fitting that offers compatibility with different dimensions and materials of pipes available on the market. Custom pipe fittings were 3D printed using a RepRap-class fused filament 3D printer, with polylactic acid (PLA), polyethylene terephthalate glycol (PETG), acrylonitrile styrene acrylate (ASA), and thermoplastic elastomer (TPE) as …

3d-Printable Pva-Based Inks Filled With Leather Particle Scraps For Uv-Assisted Direct Ink Writing: Characterization And Printability, Luca Guida, Alessia Romani, Davide Negri, Marco Cavallaro, Marinella Levi

Electrical and Computer Engineering Publications

Despite its significant environmental impacts, leather remains a popular material due to its durability, aesthetics, and mechanical properties. Recycling leather scraps is gaining increasing attention to reduce waste, pollutants, and emissions from pristine raw materials in the tanning industry. Material Extrusion additive manufacturing represents a promising way to recycle leather byproducts as secondary raw materials for new applications. This paper investigates the characterization and printability of photo- and thermal-curable PVA-based inks for UV-assisted Direct Ink Writing filled with leather filler scraps from the tanning industry, i.e., leather shavings. As a cold extrusion process, Direct Ink Writing reduces energy consumption and …

An Slo-Aware, Multi-Pronged Approach To Enhancing Resource And Energy Efficiency In Server Applications, Ning Li

Computer Science and Engineering Dissertations - Archive

Server applications operating in oversubscribed cloud environments face the dual challenges of meeting strict Quality-of-Service (QoS) requirements and improving resource and energy efficiency. As the number of user connections and workload diversity continue to grow, existing scheduling mechanisms struggle to balance QoS guarantees, fairness, resource efficiency, and power consumption. This dissertation presents a unified, cross-layer framework to address these challenges through three key contributions: AppleS, UTSLO, and REEF.

First, we propose AppleS, a user-space QoS-aware fine-grained I/O scheduling framework that delivers fair and efficient service to concurrent client connections. AppleS introduces a QoS-centric metric that guides admission control and scheduling …

Medical Ai: Solving Healthcare Challenges And Inspiring Ai Innovation, Xiaowei Yu

Computer Science and Engineering Dissertations - Archive

Artificial Intelligence (AI) is transforming healthcare by enabling large-scale analysis of medical data and integrating multimodal information for more comprehensive diagnostics. I present my work addressing fundamental and challenging problems in developing state-of-the-art AI models for medical data analysis, including multimodal brain data and other medical datasets. Additionally, I design brain-inspired AI models by integrating insights from organizational principles of brain networks. Specifically, my research tackles three critical aspects: (1) AI in Computational Neuroscience, where I design deep learning models for brain network analysis to uncover the organizational principles of brain networks; (2) Brain-Inspired AI, where I integrate superior brain …

3d Perception, Mapping, And Navigation For Mobile Cobot, Tuan T. Dang

Computer Science and Engineering Dissertations - Archive

Service robots are migrating from tightly controlled factory lines into offices, hospitals, and homes, where they must perceive, remember, and act amid people, clutter, and perpetual change. Humans solve this daily by forming compact, task-relevant “cognitive maps”: we sample just enough sensory detail to guide the moment, stitch those snapshots into a sparse topological scaffold, and continuously refine it as we move. Guided by that insight, this dissertation proposes a biologically inspired mapping framework that turns partial RGB-D observations into a hybrid temporal-spatial memory—locally metric for centimeter-scale navigation yet globally topological for room-to-building navigation. The system first distills raw depth …

St-Hybrid: Dynamic Graph Learning With Multi-Scale Spatio-Temporal Attention For Traffic Forecasting, Dhe Yeong Ewaza Tchalla

Electronic Theses and Dissertations

Accurate short-term traffic forecasting is central to modern Intelligent Transportation Systems, supporting route guidance, adaptive signal control, and incident response. Yet producing reliable predictions remains difficult because traffic is highly non-stationary. The relationships among roadway sensors shift during congestion, incidents, weather changes, or fluctuations in demand, and the temporal structure of traffic spans several scales from abrupt minute-level variations to broader daily and weekly rhythms. Models that rely on fixed spatial graphs or a single temporal scale tend to miss these evolving and layered dependencies. This thesis addresses these challenges by developing a graph-learning framework that adapts to changing traffic …

Multi-Objective Deep Reinforcement Learning For Dynamic Algorithm Selection In Open Ran, Saish Urumkar, Byrav Ramamurthy, Sachin Sharma

Conference papers

Open Radio Access Networks (Open RAN) provide flexible, modular multi-vendor interoperability. Growing mobile data demand requires balancing network performance with power efficiency. Mobile operators need intelligent resource management to achieve Key Performance Indicator (KPI) targets while maintaining operational efficiency. This paper proposes a solution using a multi-objective deep reinforcement learning (MODRL) model deployed on the Open RAN Intelligent Controller (RIC). Three customizable operator profiles (Power Saving, Balanced, and Performance) are used which define specific priority ratios between performance and power saving objectives.

To evaluate, individual algorithms (CPU scheduling and UE connection state switching) are implemented in Open RAN, achieving 5–20%CPU …

Performance Evaluation Of Managed Switch Configurations For Secure And Efficient Plc-Based Industrial Automation Networks, Ahmed Salama

All Graduate Theses, Dissertations, and Other Capstone Projects

This thesis explores how managed switches can improve network performance and security in PLC-based industrial systems. Using simulations in GNS3 and Cisco Packet Tracer, and packet analysis via Wireshark, the study compares unmanaged and managed switch configurations. Redundancy protocols, particularly STP and RSTP, are evaluated under failure scenarios. Results show that RSTP offers faster recovery times, making it more suitable for time-sensitive environments. Additionally, managed switch features like VLANs, port security, and MAC filtering significantly reduce vulnerabilities and improve network segmentation. The findings highlight the importance of incorporating both cybersecurity and redundancy in industrial network design as systems move toward …

Deep Target Recognition: Semi-Supervised Annotation, Sensor Fusion And Super-Resolution, Shoaib Meraj Sami

Graduate Theses, Dissertations, and Problem Reports (ETD)

Despite the recent expansion of machine learning algorithms to cover a wide range of disciplines, several areas of automatic target recognition (ATR) remain underexplored. This dissertation presents tools developed to improve performance in three significant aspects of ATR: semi-supervised annotation, sensor fusion, and image super-resolution. The aim of the semi-supervised methods is to automatically annotate targets in scenarios where labeled data are scarce in the target domain but available in the source domain. Secondly, to address the limitations of individual image sensors and enhance robustness under different environmental conditions and man-made constraints, a sensor fusion algorithm was developed to improve …

C 3 An: Custom, Compact And Composite Ai Systems - A Neurosymbolic Approach: 4Th-Generation Evolution Of Intelligent Systems, Amit P. Sheth, Kaushik Roy, Revathy Venkataramanan, Venkatesan Nadimuthu

Publications

Artificial Intelligence (AI) systems continue to evolve rapidly. From the architecture perspective, it is evolving from large, monolithic models trained on massive internet data to complex, multi-component “compound” systems and “agentic” frameworks capable of semi-autonomous decision-making. These systems show immense promise yet face numerous challenges in reliability, consistency, transparency, and alignment with user goals. In this article, we propose Custom, Compact and Composite AI with Neurosymbolic (C3AN) approach, a framework that paves way to 4th-generation of AI that integrates data, knowledge, and human expertise to build robust, intelligent and trustworthy AI systems defined by 14 foundation elements.

Custom emphasizes …

Tracking Control Of A String Actuated Soft Trunk Robot Using State-Space Modeling, Jacob Trivisonno

Open Access Master's Theses

Soft robots, primarily composed of compliant materials, exhibit highly complex and nonlinear dynamics, making precise control a significant challenge. Traditional control methods often struggle with these complexities, requiring more advanced and data-driven methods. In our previous work, “Automatic Control of a Soft Trunk Robot Actuated by Strings” [1], a proportional controller was developed to drive the steady-state tracking error to zero. While this method was effective, it required time-consuming manual tuning and was not easily adaptable to physical modifications of the robot.

To address these limitations, this research implements gain-scheduled feedback control with state-space models calculated through a multiple linear …

Annotated 3d Point Cloud Dataset For Traffic Management In Simulated Urban Intersections, Elham Binshaflout, Chaima Zaghouani, Nawfal Guefrachi, Charalampos Antoniadis, Hakim Ghazzai, Ahmad Alsharoa, Gianluca Setti

Electrical and Computer Engineering Faculty Research & Creative Works

Ensuring accurate traffic perception and road safety in complex urban environments remains a significant challenge. Advanced traffic monitoring increasingly relies on deep learning, which requires large data volumes. However, existing datasets are often limited to CCTV video footage or focus on dynamic scenarios captured by sensors mounted on ego vehicles. This narrow perspective reduces the effectiveness of comprehensive traffic monitoring, particularly for LiDAR sensors, which typically capture only the vehicle's viewpoint and miss critical areas such as intersections and pedestrian crossings. To address these limitations, we propose a holistic strategy for rapid data collection in urban settings using simulated 3D …

Smart Qos-Aware Resource Management For Edge Intelligence Systems, Minoo Hosseinzadeh

Theses and Dissertations--Computer Science

There are several definitions for Smart Cities. One common key point of these definitions is that smart cities are technologically advanced cities which connect everything in a complex urban environment including infrastructure, information, and even people to cope with the crucial problems linked with the urban life such as traffic, pollution, city crowding, health, and poverty. Central to this vision are the Internet of Things (IoT) and Big Data, where interconnected devices with sensors collect vast amounts of data for informed decision-making. However, the rapid expansion of IoT devices challenges efficient data processing while meeting diverse Quality-of-Service (QoS) requirements; for …

Trace Flight Computer, Zachary Stratton, Vandad Mossavand Varkaneh, Nicholas Ely

Williams Honors College, Honors Research Projects

In the world of collegiate rocketry, there are currently no commercial-off-the-shelf flight computers capable of being fitted to liquid engine rockets with thrust vectoring control. Currently, amateur rocketeers utilize unreliable Arduino-based systems or expensive drone computers. The objective of this project is to design a flight computer capable of data collection and filtering, telemetry transmission, and real-time controls of critical safety systems using readily available commercial-off-the-shelf components to allow rocketeers to complete their designs within a reasonable budget. The system will collect data from two IMUs, a barometric altimeter, and a magnetometer, then filter the collected data using custom Kalman …

Vector Estimation For Continuous Tracking Of Observed Radio Signals (V.E.C.T.O.R.) Lunar Navigation System, Dimitry Melnikov, Evan Bartel, Andrew Burrier, Goran Gjorgievski

Williams Honors College, Honors Research Projects

NASA's Artemis program requires precise navigation capabilities to establish the first sustained presence on the lunar surface. However, as launches bring necessary orbital infrastructure, the Artemis program will face a critical period during which reliable lunar navigation is not possible. To address this challenge, the V.E.C.T.O.R. system tracks assets, such as rovers and astronauts, as User Terminals relative to a pre-existing cell tower, or Base Station. To do so, the system leverages existing Base Station hardware to calculate the location of User Terminals in conjunction with existing communications infrastructure.

Computing With Photonic Phase Change Memory, David B. Pippen

Theses and Dissertations--Electrical and Computer Engineering

A recent breakthrough in silicon photonics includes the discovery and use of phase changing materials (PCMs). These materials can be programmed to store nonvolatile values, and when a stored value in a PCM cell is read, it changes the amplitude of the read signal, imprinting the value held into the PCM cell on the amplitude of the read signal. This thesis proposes a new approach to using PCM cells not only for photonic memory but also as a substrate to perform multiplications in the photonic domain. The proposed multiplier uses PCM cells to encode amplitude-analog weight values and differing lengths …

Implementation Of Quantized Artificial Neural Networks With Spintronic Stochastic Computing, Saadi Sabyasachi Mr.

Theses and Dissertations

Artificial intelligence or machine learning is going through a rapid expansion. It also incurs significant costs for power and device footprints. Various approaches are being explored to design energy and hardware efficient machine learning models. Stochastic computing has been proposed for efficient machine learning implementation. It requires a source of random number generation which poses some practical challenges. So spintronic solutions such as magnetic tunnel junction has been used for random number generation. Again, spintronic random number generation to implement high precision circuit is prone to device-to-device variations. Hence we designed quantized artificial neural network with spintronic stochastic computing which …

Safe Data-Enabled Control Of Human-In-The-Loop Robotic Manipulator Systems, Ritirupa Dey, Avimanyu Sahoo, Vignesh Narayanan

Publications

Safe control of human-in-the-loop (HIL) robotic manipulators is critical for applications such as assistive robotics, teleoperation in hazardous environments, and collaborative manufacturing. However, this remains challenging due to the lack of a unified framework that simultaneously addresses safety constraints, external disturbances, unmodeled dynamics, and dynamic role switching in the HIL setting. In this paper, we propose a novel NN-driven HIL control framework in which human–robot dyadic interaction occurs through the haptic channel. Using Lyapunov stability analysis, we theoretically show that the proposed NN-based controller ensures accurate joint trajectory tracking, compensates for system uncertainties, and adapts to human inputs modeled as …

Power Utilization In Open Ran: Key Findings From A Usa Testbed, Saish Urumkar, Byrav Ramamurthy, Seshu Tirupathi, Sachin Sharma

Articles

Open Radio Access Networks (Open RAN) provide flexible, scalable, and interoperable solutions to address the growing demands of mobile traffic while also aiming to reduce energy consumption. Most prior research on energy-efficient Open RAN has focused on switching techniques such as dynamic cell on/off strategies and adaptive resource allocation, primarily through simulations. This letter investigates Central Processing Unit (CPU) power utilization at the NodeB (base station) level, focusing on User Equipment (UE) connection states by making use of a USA testbed (i.e., POWDER testbed). Two scenarios are considered for the experimental setup: (1) a simulated virtual environment with a single …

Cognitive Eeg Differentiation With Hypnosis-Based Noise Reduction And K-Harmonic Means For Personalized Brainwave Modeling, Ahmad Azhari, Dimas Chaerul Ekty Saputra

Knowledge Engineering and Data Science

This study investigates the integration of hypnosis-based noise reduction and K-Harmonic Means (KHM) clustering for personalized brainwave modeling using Electroencephalography (EEG) data. EEG signals were collected from 100 participants using a Neurosky Mindset sensor at the FP1 (prefrontal) location, with each subject performing nine standardized cognitive tasks such as breathing, memory recall, and mathematical problem-solving. Hypnosis was applied not as a filtering method but as a behavioral protocol to standardize subject conditions and minimize physiological and environmental noise. The EEG signals were sampled at 128 Hz and analyzed using KHM clustering with K=4K = 4K=4, resulting in a Silhouette Score …

Stable Numerical Solution Of An Elliptic Pde Inverse Problem Subject To Incomplete Boundary Conditions, Qasim Abd Ali Tayyeh

Knowledge Engineering and Data Science

This study addresses the challenging problem of solving inverse elliptic Partial Differential Equations (PDE) with incomplete boundary data, data available only on a part of the domain boundary. The aim is to develop a robust, effective numerical framework that consistently recovers parameters and/or sources from incomplete, ill-posed data. In the case of a variational problem discretized by the Finite Element Method (FEM) and solved by an adjoint-based optimization strategy, the framework uses Tikhonov regularization. Morozov's Discrepancy Principle is used to determine regularization parameters that achieve the best balance between accuracy and stability. Even with 5% noise in the measurement data, …

Assessing Deep Learning Models And Hyperparameter Optimization For Stable Time-Series Electricity Load Forecasting, Sukma Patrya, Aji Prasetya Wibawa, Aripriharta Aripriharta

Knowledge Engineering and Data Science

Long-term electricity load forecasting plays an important role in ensuring system reliability, optimizing energy management, and making operational plans in face of continuously rising electricity demands. This study suggests a complete deep learning method for univariate forecasting of future electricity loads based on climatology and electricity consumption data for the period between 2019 and 2023. The initial dataset was cleaned, normalized, and partitioned chronologically into train/test datasets. Four train/test split cases (20/80, 40/60, 60/40, 80/20) were considered to explore the impact of different levels of historical data availability on the performance of the suggested framework from data-poor to data-rich situations. …

Power Saving In Open Ran By Using Advanced Cpu Scheduling Algorithm, Saish Urumkar, Sachin Sharma

Conference papers

Open RAN is an emerging wireless technology that is gaining significant attention for its potential to enable flexi- ble, cost-efficient, and interoperable networks. Reducing power utilization in Open RAN, particularly for 5G base stations (gNodeBs) deployed in remote areas, remains a critical challenge due to limited power availability. In our previous work, we developed a CPU scheduling algorithm that optimized core allocation based on load conditions, reducing power utilization for gNodeB in a virtualized Open RAN environment. Extending our previous work, this paper introduces an advanced CPU scheduling for Open RAN designed to reduce power utilization in real hardware Open …

Demonstrating The Impact Of Cpu Scheduling On Power Consumption In Virtualized Open Ran, Saish Urumkar, Sachin Sharma

Conference papers

Open RAN (Open Radio Access Network) is a next- generation wireless network gaining significant research interest globally due to its potential to provide a cost-efficient and scalable solution for growing network demands. Energy efficiency is an important area of focus in Open RAN deployments, as reducing power consumption while maintaining network performance is essential for sustainable wireless communication. This paper demonstrates the impact of CPU (Central Processing Unit) scheduling process priorities on power consumption and network performance in an Open RAN NodeB deployed on a testbed in the USA. The experimental results are demonstrated using two scenarios: (1) CPU Priority-Based …

Funkcjonowanie Doręczeń Elektronicznych W Ujęciu Technicznym, Michał Tabor

internetowy Kwartalnik Antymonopolowy i Regulacyjny (internet Quarterly on Antitrust and Regulation)

The article provides a legal-technical and market analysis of electronic delivery in Poland, concluding that while the system complies with the basic requirements of the eIDAS Regulation, it needs significant organizational and technical improvements. The author reviews the National Electronic Delivery System, the role of the designated operator and qualified trust service providers, and highlights issues with interoperability, address registration and portability, delivery mailboxes, and the hybrid delivery service. Recommended legal reforms include granting the public delivery service qualified status, enabling multiple delivery addresses for public and complex organizations, partly opening the market to commercial qualified providers, and moving supervision …